/* Copyright (c) 2022, Canaan Bright Sight Co., Ltd
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 1. Redistributions of source code must retain the above copyright
 * notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 * notice, this list of conditions and the following disclaimer in the
 * documentation and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
#ifndef DEPTHESTIMATED_H
#define DEPTHESTIMATED_H
#include <vector>
#include <string>

using std::string;
using std::vector;
void constant_init(const char* bin_path);
void constant_destroy();
void param_normalized(vector<float *> param_lst);
void _similar_transform(float *pts3d, double *roi_box);
void recon_vers(vector<float *> ver_lst, vector<float *> param_lst, vector<double *> roi_box_lst);
void rasterize(uint8_t *bg, float *vertices, float *colors, int height, int width, int channel, float alpha = 1, bool reverse = false);
void get_depth(uint8_t *img, float* ver, float* z, int height, int width, int channel, vector<float *> ver_lst);
void get_pncc(uint8_t *img, float* ver, int height, int width, int channel, vector<float *> ver_lst);

#endif